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Diffstat (limited to 'zephyr/include/emul/emul_bmi.h')
| -rw-r--r-- | zephyr/include/emul/emul_bmi.h | 431 |
1 files changed, 0 insertions, 431 deletions
diff --git a/zephyr/include/emul/emul_bmi.h b/zephyr/include/emul/emul_bmi.h deleted file mode 100644 index 9eac9c3f85..0000000000 --- a/zephyr/include/emul/emul_bmi.h +++ /dev/null @@ -1,431 +0,0 @@ -/* Copyright 2021 The Chromium OS Authors. All rights reserved. - * Use of this source code is governed by a BSD-style license that can be - * found in the LICENSE file. - */ - -/** - * @file - * - * @brief Backend API for BMI emulator - */ - -#ifndef __EMUL_BMI_H -#define __EMUL_BMI_H - -#include <emul.h> -#include <drivers/i2c.h> -#include <drivers/i2c_emul.h> - -/** - * @brief BMI emulator backend API - * @defgroup bmi_emul BMI emulator - * @{ - * - * BMI emulator supports responses to all write and read I2C messages. - * Accelerometer and gyroscope registers are obtained from internal emulator - * state, range register and offset. FIFO is fully simulated. Emulator can be - * extended to support more models of BMI. - * Application may alter emulator state: - * - * - define a Device Tree overlay file to set which inadvisable driver behaviour - * should be treated as errors and which model is emulated - * - call @ref bmi_emul_set_reg and @ref bmi_emul_get_reg to set and get value - * of BMI registers - * - call @ref bmi_emul_set_off and @ref bmi_emul_get_off to set and get - * internal offset value - * - call @ref bmi_emul_set_value and @ref bmi_emul_get_value to set and get - * accelerometer or gyroscope value - * - call bmi_emul_set_err_* to change emulator behaviour on inadvisable driver - * behaviour - * - call @ref bmi_emul_simulate_cmd_exec_time to enable or disable simulation - * of command execution time - * - call @ref bmi_emul_append_frame to add frame to FIFO - * - call @reg bmi_emul_set_skipped_frames to generate skip frame on next access - * to FIFO - * - call functions from emul_common_i2c.h to setup custom handlers for I2C - * messages - */ - -/** - * Axis argument used in @ref bmi_emul_set_value @ref bmi_emul_get_value - * @ref bmi_emul_set_off and @ref bmi_emul_get_off - */ -enum bmi_emul_axis { - BMI_EMUL_ACC_X, - BMI_EMUL_ACC_Y, - BMI_EMUL_ACC_Z, - BMI_EMUL_GYR_X, - BMI_EMUL_GYR_Y, - BMI_EMUL_GYR_Z, -}; - -/** BMI emulator models */ -#define BMI_EMUL_160 1 -#define BMI_EMUL_260 2 - -/** Last register supported by emulator */ -#define BMI_EMUL_MAX_REG 0x80 -/** Maximum number of registers that can be backed in NVM */ -#define BMI_EMUL_MAX_NVM_REGS 10 - -/** Headers used in FIFO frames */ -#define BMI_EMUL_FIFO_HEAD_SKIP 0x40 -#define BMI_EMUL_FIFO_HEAD_TIME 0x44 -#define BMI_EMUL_FIFO_HEAD_CONFIG 0x48 -#define BMI_EMUL_FIFO_HEAD_EMPTY 0x80 -#define BMI_EMUL_FIFO_HEAD_DATA 0x80 -#define BMI_EMUL_FIFO_HEAD_DATA_MAG BIT(4) -#define BMI_EMUL_FIFO_HEAD_DATA_GYR BIT(3) -#define BMI_EMUL_FIFO_HEAD_DATA_ACC BIT(2) -#define BMI_EMUL_FIFO_HEAD_DATA_TAG_MASK 0x03 - -/** - * Acceleration 1g in internal emulator units. It is helpful for using - * functions @ref bmi_emul_set_value @ref bmi_emul_get_value - * @ref bmi_emul_set_off and @ref bmi_emul_get_off - */ -#define BMI_EMUL_1G BIT(14) -/** - * Gyroscope 125°/s in internal emulator units. It is helpful for using - * functions @ref bmi_emul_set_value @ref bmi_emul_get_value - * @ref bmi_emul_set_off and @ref bmi_emul_get_off - */ -#define BMI_EMUL_125_DEG_S BIT(15) - -/** Type of frames that can be added to the emulator frames list */ -#define BMI_EMUL_FRAME_CONFIG BIT(0) -#define BMI_EMUL_FRAME_ACC BIT(1) -#define BMI_EMUL_FRAME_MAG BIT(2) -#define BMI_EMUL_FRAME_GYR BIT(3) - -/** - * Code returned by model specific handle_read and handle_write functions, when - * RO register is accessed on write or WO register is accessed on read - */ -#define BMI_EMUL_ACCESS_E 1 - -/** Structure used to describe single FIFO frame */ -struct bmi_emul_frame { - /** Type of frame */ - uint8_t type; - /** Tag added to data frame */ - uint8_t tag; - /** Value used in config frame */ - uint8_t config; - /** Accelerometer sensor values in internal emulator units */ - int32_t acc_x; - int32_t acc_y; - int32_t acc_z; - /** Gyroscope sensor values in internal emulator units */ - int32_t gyr_x; - int32_t gyr_y; - int32_t gyr_z; - /** Magnetometer/other sensor values in internal emulator units */ - int32_t mag_x; - int32_t mag_y; - int32_t mag_z; - int32_t rhall; - - /** Pointer to next frame or NULL */ - struct bmi_emul_frame *next; -}; - -/** Structure describing specific BMI model */ -struct bmi_emul_type_data { - /** Indicate if time frame should follow config frame */ - bool sensortime_follow_config_frame; - - /** - * @brief Compute register address that acctually will be accessed, when - * selected register is @p reg and there was @p byte handled in - * the current I2C message - * - * @param emul Pointer to BMI emulator - * @param reg Selected register - * @param byte Number of handled bytes in the current I2C message - * @param read If current I2C message is read - * - * @return Register address that will be accessed - */ - int (*access_reg)(struct i2c_emul *emul, int reg, int byte, bool read); - - /** - * @brief Model specific write function. It should modify state of - * emulator if required. - * - * @param regs Pointer to array of emulator's registers - * @param emul Pointer to BMI emulator - * @param reg Selected register - * @param byte Number of handled bytes in this write command - * @param val Value that is being written - * - * @return 0 on success - * @return BMI_EMUL_ACCESS_E on RO register access - * @return other on error - */ - int (*handle_write)(uint8_t *regs, struct i2c_emul *emul, int reg, - int byte, uint8_t val); - /** - * @brief Model specific read function. It should modify state of - * emulator if required. @p buf should be set to response value. - * - * @param regs Pointer to array of emulator's registers - * @param emul Pointer to BMI emulator - * @param reg Selected register - * @param byte Byte which is accessed during block read - * @param buf Pointer where read byte should be stored - * - * @return 0 on success - * @return BMI_EMUL_ACCESS_E on WO register access - * @return other on error - */ - int (*handle_read)(uint8_t *regs, struct i2c_emul *emul, int reg, - int byte, char *buf); - /** - * @brief Model specific reset function. It should modify state of - * emulator to imitate after reset conditions. - * - * @param regs Pointer to array of emulator's registers - * @param emul Pointer to BMI emulator - */ - void (*reset)(uint8_t *regs, struct i2c_emul *emul); - - /** Array of reserved bits mask for each register */ - const uint8_t *rsvd_mask; - - /** Array of registers that are backed in NVM */ - const int *nvm_reg; - /** Number of registers backed in NVM */ - int nvm_len; - - /** Gyroscope X axis register */ - int gyr_off_reg; - /** Accelerometer X axis register */ - int acc_off_reg; - /** Gyroscope 9 and 8 bits register */ - int gyr98_off_reg; -}; - -/** - * @brief Get BMI160 model specific structure. - * - * @return Pointer to BMI160 specific structure - */ -const struct bmi_emul_type_data *get_bmi160_emul_type_data(void); -/** - * @brief Get BMI260 model specific structure. - * - * @return Pointer to BMI260 specific structure - */ -const struct bmi_emul_type_data *get_bmi260_emul_type_data(void); - -/** - * @brief Get pointer to BMI emulator using device tree order number. - * - * @param ord Device tree order number obtained from DT_DEP_ORD macro - * - * @return Pointer to BMI emulator - */ -struct i2c_emul *bmi_emul_get(int ord); - -/** - * @brief Set value of given register of BMI - * - * @param emul Pointer to BMI emulator - * @param reg Register address which value will be changed - * @param val New value of the register - */ -void bmi_emul_set_reg(struct i2c_emul *emul, int reg, uint8_t val); - -/** - * @brief Get value of given register of BMI - * - * @param emul Pointer to BMI emulator - * @param reg Register address - * - * @return Value of the register - */ -uint8_t bmi_emul_get_reg(struct i2c_emul *emul, int reg); - -/** - * @brief Get internal value of offset for given axis and sensor - * - * @param emul Pointer to BMI emulator - * @param axis Axis to access - * - * @return Offset of given axis. LSB for accelerometer is 0.061mg and for - * gyroscope is 0.0037°/s. - */ -int16_t bmi_emul_get_off(struct i2c_emul *emul, enum bmi_emul_axis axis); - -/** - * @brief Set internal value of offset for given axis and sensor - * - * @param emul Pointer to BMI emulator - * @param axis Axis to access - * @param val New value of given axis. LSB for accelerometer is 0.061mg and for - * gyroscope is 0.0037°/s. - */ -void bmi_emul_set_off(struct i2c_emul *emul, enum bmi_emul_axis axis, - int16_t val); - -/** - * @brief Get internal value of sensor for given axis - * - * @param emul Pointer to BMI emulator - * @param axis Axis to access - * - * @return Sensor value of given axis. LSB for accelerometer is 0.061mg and for - * gyroscope is 0.0037°/s. - */ -int32_t bmi_emul_get_value(struct i2c_emul *emul, enum bmi_emul_axis axis); - -/** - * @brief Set internal value of sensor for given axis - * - * @param emul Pointer to BMI emulator - * @param axis Axis to access - * @param val New value of given axis. LSB for accelerometer is 0.061mg and for - * gyroscope is 0.0037°/s. - */ -void bmi_emul_set_value(struct i2c_emul *emul, enum bmi_emul_axis axis, - int32_t val); - -/** - * @brief Set if error should be generated when read only register is being - * written - * - * @param emul Pointer to BMI emulator - * @param set Check for this error - */ -void bmi_emul_set_err_on_ro_write(struct i2c_emul *emul, bool set); - -/** - * @brief Set if error should be generated when reserved bits of register are - * not set to 0 on write I2C message - * - * @param emul Pointer to BMI emulator - * @param set Check for this error - */ -void bmi_emul_set_err_on_rsvd_write(struct i2c_emul *emul, bool set); - -/** - * @brief Set if error should be generated when write only register is read - * - * @param emul Pointer to BMI emulator - * @param set Check for this error - */ -void bmi_emul_set_err_on_wo_read(struct i2c_emul *emul, bool set); - -/** - * @brief Set if effect of simulated command should take place after simulated - * time pass from issuing command. - * - * @param emul Pointer to BMI emulator - * @param set Simulate command execution time - */ -void bmi_emul_simulate_cmd_exec_time(struct i2c_emul *emul, bool set); - -/** - * @brief Set number of skipped frames. It will generate skip frame on next - * access to FIFO. After that number of skipped frames is reset to 0. - * - * @param emul Pointer to BMI emulator - * @param skip Number of skipped frames - */ -void bmi_emul_set_skipped_frames(struct i2c_emul *emul, uint8_t skip); - -/** - * @brief Clear all FIFO frames, set current frame to empty and reset fifo_skip - * counter - * - * @param emul Pointer to BMI emulator - * @param tag_time Indicate if sensor time should be included in empty frame - * @param header Indicate if header should be included in frame - */ -void bmi_emul_flush_fifo(struct i2c_emul *emul, bool tag_time, bool header); - -/** - * @brief Restore registers backed by NVM, reset sensor time and flush FIFO - * - * @param emul Pointer to BMI emulator - */ -void bmi_emul_reset_common(struct i2c_emul *emul, bool tag_time, bool header); - -/** - * @brief Set command end time to @p time ms from now - * - * @param emul Pointer to BMI emulator - * @param time After this amount of ms command should end - */ -void bmi_emul_set_cmd_end_time(struct i2c_emul *emul, int time); - -/** - * @brief Check if command should end - * - * @param emul Pointer to BMI emulator - */ -bool bmi_emul_is_cmd_end(struct i2c_emul *emul); - -/** - * @brief Append FIFO @p frame to the emulator list of frames. It can be read - * using I2C interface. - * - * @param emul Pointer to BMI emulator - * @param frame Pointer to new FIFO frame. Pointed data has to be valid while - * emulator may use this frame (until flush of FIFO or reading - * it out through I2C) - */ -void bmi_emul_append_frame(struct i2c_emul *emul, struct bmi_emul_frame *frame); - -/** - * @brief Get length of all frames that are on the emulator list of frames. - * - * @param emul Pointer to BMI emulator - * @param tag_time Indicate if sensor time should be included in empty frame - * @param header Indicate if header should be included in frame - */ -uint16_t bmi_emul_fifo_len(struct i2c_emul *emul, bool tag_time, bool header); - -/** - * @brief Get next byte that should be returned on FIFO data access. - * - * @param emul Pointer to BMI emulator - * @param byte Which byte of block read command is currently handled - * @param tag_time Indicate if sensor time should be included in empty frame - * @param header Indicate if header should be included in frame - * @param acc_shift How many bits should be right shifted from accelerometer - * data - * @param gyr_shift How many bits should be right shifted from gyroscope data - * - * @return FIFO data byte - */ -uint8_t bmi_emul_get_fifo_data(struct i2c_emul *emul, int byte, - bool tag_time, bool header, int acc_shift, - int gyr_shift); - -/** - * @brief Saves current internal state of sensors to emulator's registers. - * - * @param emul Pointer to BMI emulator - * @param acc_shift How many bits should be right shifted from accelerometer - * data - * @param gyr_shift How many bits should be right shifted from gyroscope data - * @param acc_reg Register which holds LSB of accelerometer sensor - * @param gyr_reg Register which holds LSB of gyroscope sensor - * @param sensortime_reg Register which holds LSB of sensor time - * @param acc_off_en Indicate if accelerometer offset should be included to - * sensor data value - * @param gyr_off_en Indicate if gyroscope offset should be included to - * sensor data value - */ -void bmi_emul_state_to_reg(struct i2c_emul *emul, int acc_shift, - int gyr_shift, int acc_reg, int gyr_reg, - int sensortime_reg, bool acc_off_en, - bool gyr_off_en); - -/** - * @} - */ - -#endif /* __EMUL_BMI_H */ |